Combined slip-based driver command interpreter

• US 10,407,034 B2
• Filed: 06/05/2017
• Issued: 09/10/2019
• Est. Priority Date: 06/05/2017
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Mahabadi, Seyedalireza Kasaiezadeh, Holbrook, James H., Tan, Hualin, Hashemi, Ehsan, Litkouhi, Bakhtiar B.
• Primary Examiner(s): Refai, Ramsey
• Application Number:
  US15/614,172
• Publication Number:
  US 20180347486A1
• Time in Patent Office: 827 Days
• CPC Class Codes: B60K 28/16 responsive to, or preventing, skidding of wheels brake control systems for vehicle drive stability B60T8/1755; arrangements responsive to a speed condition for adjusting wheel braking force B60T8/32; control of vehicle driving stability otherwise than by controlling the propulsion unit only B60W30/02; preventing wheel slippage by reducing power in rail vehicles B61C15/00
• CPC Class Codes: B60T 2270/304 during driver brake actuation
• CPC Class Codes: B60T 2270/86 Optimizing braking by using ESP vehicle or tire model
• CPC Class Codes: B60T 8/175 Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control safety devices for propulsion unit control responsive to, or preventing, skidding of wheels B60K28/16
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60W 2050/0031 Mathematical model of the vehicle
• CPC Class Codes: B60W 2050/0062 Adapting control system settings
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 50/0098 Details of control systems ensuring comfort, safety or stability not otherwise provided for
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: F02P 5/04 automatically, as a function of the working conditions of the engine or vehicle or of the atmospheric conditions dependent on position of personal controls of engine F02P5/02
• CPC Class Codes: F02P 5/142 dependent on a combination of several specific conditions F02P5/075, F02P5/106 takes precedence
• CPC Class Codes: F02P 5/1504 with particular means during a transient phase, e.g. acceleration, deceleration, gear change during starting F02P5/1506

Abstract

A combined slip based driver command interpreter for a vehicle is provided which may be communicatively coupled to a steering wheel angle sensor, an acceleration pedal position sensor and a brake pedal position sensor, the combined slip based driver command interpreter including, but not limited to a memory configured to store a non-linear combined lateral slip model and a non-linear combined longitudinal slip model, and a processor, the processor configured to determine a driver'"'"'s intended vehicle lateral velocity and a driver'"'"'s intended vehicle yaw rate based upon the angle of the steering wheel, the position of the acceleration pedal, the position of the brake pedal, a longitudinal velocity of the vehicle, the non-linear combined lateral slip model and the non-linear combined longitudinal slip model.

Claims

1. A vehicle, comprising:

a plurality of tires;

a steering wheel configured to steer the vehicle;

a steering wheel angle sensor configured to output an angle of the steering wheel;

an acceleration pedal configured to control a fuel supply rate of the vehicle;

an acceleration pedal position sensor configured to output a position of the acceleration pedal;

a brake pedal configured to control braking of the vehicle;

a brake pedal position sensor configured to output a position of the brake pedal; and

a combined slip based driver command interpreter communicatively coupled to the steering wheel angle sensor, the acceleration pedal position sensor and the brake pedal position sensor, the combined slip based driver command interpreter comprising;

a memory configured to store a non-linear combined lateral slip model and a non-linear combined longitudinal slip model; and

a processor, the processor configured to determine a driver'"'"'s intended vehicle lateral velocity and a driver'"'"'s intended vehicle yaw rate based upon the angle of the steering wheel, the position of the acceleration pedal, the position of the brake pedal, a longitudinal velocity of the vehicle, the non-linear combined lateral slip model and the non-linear combined longitudinal slip model;

wherein the processor is further configured to;

determine an intended lateral force on each tire of the vehicle and an intended longitudinal force on each tire of the vehicle based upon the non-linear combined lateral slip model and the non-linear combined longitudinal slip model;

determine the driver'"'"'s intended vehicle lateral velocity and the driver'"'"'s intended vehicle yaw rate based upon the determined intended lateral force on each tire of the vehicle, the determined intended longitudinal force on each tire of the vehicle, and a steering angle for each tire of the vehicle; and

execute a control command for an electronic stability control system to take over command of the vehicle by automatically activating steering, braking, or acceleration of the vehicle based on the determined driver'"'"'s intended lateral velocity and the determined driver'"'"'s intended vehicle yaw rate.

2. The vehicle of claim 1, the processor is further configured to determine the intended lateral force on each tire of the vehicle and the intended longitudinal force on each tire of the vehicle based upon the non-linear combined lateral slip model and the non-linear combined longitudinal slip model.

3. The vehicle of claim 2, wherein the processor utilizes the non-linear combined lateral slip model to convert the angle of the steering wheel, the position of the acceleration pedal and the position of the brake pedal into the intended lateral force on each tire.

4. The vehicle of claim 3, wherein the processor utilizes the non-linear combined longitudinal slip model to convert the angle of the steering wheel, the position of the acceleration pedal and the position of the brake pedal into the intended longitudinal force on each tire.

5. The vehicle of claim 4, where the processor is configured to determine the intended vehicle lateral velocity according to:

6. The vehicle of claim 5, where the processor is configured to determine the intended vehicle yaw rate according to:

18. The vehicle of claim 1, wherein the processor is configured to execute the control command for the electronic stability control system to take over command of the vehicle by automatically activating a steering system of the vehicle based on the determined driver'"'"'s intended lateral velocity and the determined driver'"'"'s intended vehicle yaw rate.

19. The vehicle of claim 1, wherein the processor is configured to execute the control command for the electronic stability control system to take over command of the vehicle by automatically activating a braking system of the vehicle based on the determined driver'"'"'s intended lateral velocity and the determined driver'"'"'s intended vehicle yaw rate.

20. The vehicle of claim 1, wherein the processor is configured to execute the control command for the electronic stability control system to take over command of the vehicle by automatically activating an acceleration system of the vehicle based on the determined driver'"'"'s intended lateral velocity and the determined driver'"'"'s intended vehicle yaw rate.

7. A method for operating a combined slip based driver command interpreter for a vehicle having a plurality of tires, comprising:

receiving, by a processor of the combined slip based driver command interpreter, a steering wheel angle of a steering wheel of the vehicle, a position of a brake pedal of the vehicle and a position of an acceleration pedal of the vehicle;

determining, by the processor, an intended lateral force on each tire of the vehicle and an intended longitudinal force on each tire of the vehicle based upon the non-linear combined lateral slip model and the non-linear combined longitudinal slip model;

determining, by the processor, a driver'"'"'s intended vehicle lateral velocity and a driver'"'"'s intended vehicle yaw rate based upon the angle of the steering wheel, the position of the acceleration pedal, the position of the brake pedal, a non-linear combined lateral slip model and a non-linear combined longitudinal slip model, wherein the driver'"'"'s intended vehicle lateral velocity and the driver'"'"'s intended vehicle yaw rate are determined by the processor based upon the determined intended lateral force on each tire of the vehicle, the determined intended longitudinal force on each tire of the vehicle, and a steering angle for each tire of the vehicle; and

executing, via the processor, a control command for an electronic stability control system to take over command of the vehicle by automatically activating steering, braking, or acceleration of the vehicle based on the determined driver'"'"'s intended lateral velocity and the determined driver'"'"'s intended vehicle yaw rate.

8. The method of claim 7 wherein the method further comprising determining the intended lateral force on each tire of the vehicle and the intended longitudinal force on each tire of the vehicle based upon the non-linear combined lateral slip model and the non-linear combined longitudinal slip model.

9. The method of claim 8, wherein the processor utilizes the non-linear combined lateral slip model to convert the angle of the steering wheel, the position of the acceleration pedal and the position of the brake pedal into the intended lateral force on each tire.

10. The method of claim 9, wherein the processor utilizes the non-linear combined longitudinal slip model to convert the angle of the steering wheel, the position of the acceleration pedal and the position of the brake pedal into the intended longitudinal force on each tire.

11. The method of claim 10, further comprising determining the intended vehicle lateral velocity according to:

12. The method of claim 11, further comprising determining the intended vehicle yaw rate according to:

13. A combined slip based driver command interpreter for a vehicle having a plurality of tires, comprising:

a memory configured to store a non-linear combined lateral slip model and a non-linear combined longitudinal slip model; and

a processor communicatively coupled to the memory, the processor configured to;

receive a steering wheel angle from a steering wheel angle sensor, an acceleration pedal position from an acceleration pedal position sensor and a brake pedal position from a brake pedal position sensor; and

determine a driver'"'"'s intended vehicle lateral velocity and a driver'"'"'s intended vehicle yaw rate based upon the angle of the steering wheel, the position of the acceleration pedal, the position of the brake pedal, the non-linear combined lateral slip model and the non-linear combined longitudinal slip model;

wherein the processor is further configured to;

determine an intended lateral force on each tire of the vehicle and an intended longitudinal force on each tire of the vehicle based upon the non-linear combined lateral slip model and the non-linear combined longitudinal slip model;

determine the driver'"'"'s intended vehicle lateral velocity and the driver'"'"'s intended vehicle yaw rate based upon the determined intended lateral force on each tire of the vehicle, the determined intended longitudinal force on each tire of the vehicle, and a steering angle for each tire of the vehicle; and

execute a control command for an electronic stability control system to take over command of the vehicle by automatically activating steering, braking, or acceleration of the vehicle based on the determined driver'"'"'s intended lateral velocity and the determined driver'"'"'s intended vehicle yaw rate.

14. The combined slip based driver command interpreter of claim 13, wherein the processor is further configured to determine the intended lateral force on each tire of the vehicle and the intended longitudinal force on each tire of the vehicle based upon the non-linear combined lateral slip model and the non-linear combined longitudinal slip model.

15. The combined slip based driver command interpreter of claim 14, wherein processor utilizes the non-linear combined lateral slip model to convert the angle of the steering wheel, the position of the acceleration pedal and the position of the brake pedal into the intended lateral force on each tire and utilizes the non-linear combined longitudinal slip model to convert the angle of the steering wheel, the position of the acceleration pedal and the position of the brake pedal into the intended longitudinal force on each tire.

16. The combined slip based driver command interpreter of claim 15, where the processor is configured to determine the intended vehicle lateral velocity according to:

17. The combined slip based driver command interpreter of claim 16, where the processor is configured to determine the intended vehicle yaw rate according to: